Utilize este identificador para referenciar este registo:
https://hdl.handle.net/10216/70314
Autor(es): | Aníbal Matos Nuno Cruz |
Título: | Positioning control of an underactuated surface vessel |
Data de publicação: | 2008 |
Resumo: | This paper focuses on the positioning control of of a small size autonomous surface vessel (ASV) that can be used to carry a multitude of payload systems, including acoustic devices for underwater positioning and for communications with autonomous underwater vehicles. Its main motivation is the development of highly operational systems, by replacing typically moored support infrastructures with others that can dynamically position themselves. This work covers the design of feedback control laws that assure that the underactuated surface vessel Zarco can keep its position even in the presence of water currents and wind, and without special sensors to estimate such disturbances. Experimental results showing the performance of the designed control laws are also shown. |
Assunto: | Engenharia do ambiente Environmental engineering |
Áreas do conhecimento: | Ciências da engenharia e tecnologias::Engenharia do ambiente Engineering and technology::Environmental engineering |
URI: | https://hdl.handle.net/10216/70314 |
Fonte: | OCEANS 2008, VOLS 1-4 |
Tipo de Documento: | Artigo em Livro de Atas de Conferência Internacional |
Condições de Acesso: | openAccess |
Licença: | https://creativecommons.org/licenses/by-nc/4.0/ |
Aparece nas coleções: | FEUP - Artigo em Livro de Atas de Conferência Internacional |
Este registo está protegido por Licença Creative Commons